CHAPTER TWO

LINKAGE
 WHAT IS LINKAGE?
A linkage is a kinematic chain in which one of the links is fixed to the
ground which usually is the frame.
A linkage permits relative motion between its links and
may have one or more degrees of freedom.
A linkage with zero or negative degree of freedom is a
structure which does not allow any relative motion between
the links.
Many times the name mechanism can be referred in place of linkage.
There are very many linkages formed by different connections of
members to produce the motion required by the design.
In this chapter we will consider basic linkages that have frequent
applications in various machines.
 Types of linkage

2.1 FOUR BAR LINKAGE

It is a combination of four links, which are connected in the form of
quadrilateral by 4 pin joints.
These four links are joined by four revolute joints.
They are designed to guide wide Varity of movements.
Basic Terms
Link 1 is the frame or ground; generally, it is
stationary.
Link 2 is the driver which may rotate or oscillate.
i.e If it rotate its called crank
If it oscillate its called rocker
Link 3 is the coupler, sometimes known as the
connecting rod. This link undergoes general plane
motion.
Link 4 is the follower or driven element, which may
rotate or oscillate depending on the rotary or
oscillatory motion of link 2, and on link dimensions.
These four links are joined by four revolute joints.
mechanism
Cont’d
Cont,d
cont’d
 2.1.2 MOTION OF A FOUR-BAR
MECHANISM
There are three basic types of motion which a four-bar linkage can
produce.
These are A)crank-rocker(one link rotates and another one link
oscillate)
B)double crank (two links rotates)
C)double-rocker(one link oscillate)
The type of motion that a four-bar linkage executes depends on the
proportional size of its links.

To determine whether a four-bar link will operate as a crank-rocker, a

double-crank and a double-rocker, Grashoff's law is applied.
Grashoff's Law
a)Crank rocker
A)Two different crank rockers will be formed when the shortest link is the
crank and either of the adjacent links is the fixed link.
b) double crank(drag link)
It will be formed when the shortest link is the fixed link. both of the adjacent
links will rotate.
 c)double rocker
It will be formed when the link opposite to the shortest link is the fixed
link.
d)Parallel crank
Grashoff's Law cont’d
crank rocker
Double rocker
Parallel cranck
Double crank
Non Grashrof
 Inversions of four bar chain mechanism
As we observed from the previous lesson ,by obeying Grashof Low

we have will obtain different inversions.

These are:

1)Crank-rocker mechanism(rotary –oscillating converter)

*Widely used in beam engine

*car wiper system POWER HAMER

2)Double crank or parallel Double crank mechanism(rotary –rotary
converter

*widely used in coupling rod of locomotive

3)Double rocker mechanism(oscillating–oscillating converter)

Inversion cont’d

By disobeying Grashoff’s law we obtain Inversions of non-Grashoff’s four bar

linkage
all inversions of the four bar chain mechanism will be triple-rockers in which
no link can fully rotate.
NON GRASHOF INVERSION
BEAM ENGINE
DOUBLE CRANCK
POWER HAMER
CAR wiper
Non grashrof application(triple rocker)
Que.#2
nose wheel assembly for a small aircraft is shown in Figure
below. Classify the motion of this four-bar mechanism,
Based on the configuration of the links.
2)Slider crank mechanism
It is basically a four-bar mechanism with three revolute joints, or turning pairs and
a prismatic joint or a sliding pair.
It is obtained by replacing one of the turning pair of the 4 bar mechanism.
The slider crank mechanism converts rotary motion into reciprocating motion and
vice versa.
A ' and A " is called dead point in which the crank and the connecting rod are in
line.
At the dead positions the crank can move in either direction unless constrained by
an external force.
This mechanism is widely used and finds its greatest application in the internal
combustion engine.
Basic terms

link I is the frame, considered to be fixed

link 2 is the crank which is the driver
link 3 is the connecting rod, the link between the driver and the follower
link 4 is the slider which is the driven element(output link).
 Inversion of the Slider-Crank Mechanism
It is obvious that four inversions of a single slider crank chain are
possible.
A slider crank chain have the following inversion:

 let see them one by one

1)First inversion
It is obtained when link 1 is fixed and link 2 and 4 are made the crank and
the slider respectively.

This inversion is used widely in ;

1)Reciprocating engine
2)Reciprocating compressor
1st inversion
Cont’d
Reciprocating engine
Link 4, the piston, is driven by the expanding

gases and forms the input;

link 2, the crank, is the driven output.

The frame is the cylinder block, link 1.

Link 3 is the piston rod or connecting link

Reciprocating compressor
link 2, the crank connected to motor, is the
driver (input link).
 Link 4, the piston, is driven link and forms
the output;
The frame is the cylinder block, link 1.
Link 3 is the piston rod or connecting link
Second inversion
it is now inverted and link 2 is stationary.

Link 1, formerly the frame, now rotates about its fixed point on link 2 .

Link 3 along with the slider become a crank and rotates about link 2.

Link 4(slider) reciprocate along link one

This inversion of the slider-crank mechanism was used as the basis of

the rotary engine found in early aircraft and whitworth quick return
mechanism.
2nd inversion
Cont’d
Rotary engine
The slider is replaced by piston & link 1 is
Replaced by cylinder pivoted at O.
A number of cylinders are used instead of one.
All cylinders(link 1) rotate about the same
fixed Center and form balanced system.
Link 3 is the connecting rod.
link 2(fixed link) is common to all cylinders
Whit worth quick-return mechanism
Slider 4 rotates in circle about A and
slide on the link 1
Link 1 is extended backwards where the
link 5 is pivoted.
The end of the link 5 is pivoted to the tool(link 6)
the forward Stroke of the which cut the metal.
Link 2 is the fixed link
3rd inversion
In the 3rd inversion , the link which is initially the connecting rod(link
3), as the frame link.
Link 2 it act as the crank(rotate).
Link 4 act as rocker(oscillate).

The application of this inversion is;

1)Oscillating cylinder engine
2)Crank and slotted lever mechanism
3rd inversion
Oscillating cylinder
The link 4 is made in the form of cylinder
and a piston is fixed to the end of the link 1.
The piston reciprocate inside the
cylinder pivoted to the fixed link 3.
Link 2 act as crank(rotates).
Since the cylinder is not fixed so it
Oscillate when the piston reciprocate, i.e oscillating cylinder.
Crank and slotted lever mechanism
If the cylinder of an oscillating cylinder engine
is made in the form of guide and piston in the
form a slider the CSLM is obtained.
As crank(LINK 2) about A rotate the
Guide(link 4) 4 oscillate about b.
The link 5 is pivoted at the other end of link 4(guide)
Which is connected to the cutting tool(link 6).
4th inversion slider crank mechanism
If the link 4 (slider)of the slider crank mechanism is fixed the 4th inversion is
obtained.
Link 3 can oscillate about a fixed point on link 4.
Link 2 at one of its end(point a),it oscillate and at its other end it reciprocate along
the axis of the fixed link 4.

The applications of 4th inversion;

i)Hand pump
ii)Bull engine mechanism
4th inversion
Hand pump
Link 4 is made in the form of a cylinder and plunger fixed to the link 1 reciprocate
in it.
Bull engine (pendulum pump)
Since link 4 is the fixed link, and to avoid confusion simply the shape of cylinder
and piston are exchanged (i.e. link 4 become cylinder).
When the crank rotate (link 2),the connecting rod (link 3)oscillate and the
attached Piston(link 1) reciprocate.
Ic engine
Whit worth
Whitworth
Rotary ic engine
Oscillating cylinder
Crank and slotted leveler
Hand pump
Bull pump
 THE SCOTCH YOKE MECHANISM
It is the inversion of double slider crank mechanism
which is obtained by fixing any one of the sliders in
the mechanism.

Pin on rotating link is engaged in slot of sliding link

which is guided by the frame.
When the link 2 rotate, the slider reciprocate in the
vertical slot and produce linear motion of link 4.
Convert rotational motion in to linear motion or vice
versus.
It gives exact simple harmonic motion of the slider in
response to a constant speed input to the crank.

With regarding to the input and output motion they

are similar to scm but the linear sliding motion is
sinusoidal.

Widely used as a sine and cosine generator, i.e. it is

used to produce harmonic motion.
motion It is also used to
Scoth yoke
scoth
 Cont’d
• FROM THE MECHANISM
The displacement of the slider x in moving from A to A’ is given by:
x  r  r cos   r (1  cos  )
Substituting  = t, the displacement is ; x  r (1  cos t )
The velocity and acceleration of the follower is ;
dx
v  r sin t  r sin 
dt
d 2x
a 2
 r  2
cos t  r 2
cos 
d t
 QUICK-RETURN MECHANISMS
They are mechanisms that converts rotary motion into reciprocating
motion at different rate for its two strokes(forward stroke and return
stock).
Are combinations of simple linkages such as 4 bar linkages and SCM
which give a quick return-stroke of the follower for a constant angular
velocity of the driver.
During these operations for a certain period the mechanisms will be
under load known as working stroke and the remaining period is
known as the return stroke, the mechanism returns to repeat the
operation without load.
It have slower work stroke and a quick return stroke.
 the time required for the working stroke is greater than that of the
return stroke. So that it is called QRM.
QRMMOTION
 Currently, it is widely used in machine tools, for instance, shaping
machines, power-driven saws, and other applications requiring a
working stroke with intensive loading, and a return stroke with
non-intensive loading.
Time ratio of QRM
In the design of quick-return mechanisms, The ratio of time of working
stroke to that of the return stroke is known a time ratio.
It is the ratio of the crank angle for the working stroke to that of the
return stroke.
To produce quick-return mechanisms, The time-ratio is always greater
than unity to give a slower cutting stroke and a faster return stroke.

angle of cutting stroke

time ratio  1
angle of return stroke
 Types of QRM
The various quick return mechanisms commonly used are

i) Drag link.

ii) Crank and slotted lever (crank shaper)mechanism,

iii) Whitworth

iv)offset slider crank mechanism

 Drag Link Mechanism
The drag link mechanism is developed by connecting two four-bar linkage in series.

(scm and 4 bar)

Schematically, it is shown in Fig. below. Links 1, 2, 3 and 4 comprise a four-bar drag

link mechanism in which both links 2 and 4 rotate 360 degrees or make crank rocker

based on dimensions.
Links 1, 4, 5 and 6 comprise a four-bar crank-slider mechanism.

The two four-bar mechanisms are connected via the triangle-shaped link 4, known

as ternary link, and they have a common ground link 1.

Assembling the two four-bar mechanisms in this way results in a single six-bar

mechanism.
Time ratio of drag link
Crank shaper
Links 1-4 of this mechanism form
a variation of the SCM in which the
crank is held fixed.
Link AC (link 3) is fixed.
Driving crank CB (link 2) revolves with
uniform angular speed about fixed
center C.
A sliding block(link 4) attached to
crank pin at B slides along the
slotted bar AP and thus causes AP(link
4) to oscillate about the pivoted point
A.
 short PR (link 5 ) link 5 transmits
motion from AP(link 4) to ram(link 6)
which carries tool and reciprocates
along line of stroke R1 and R2 .The line
of stroke of ram is perpendicular to
AC.
Cont’d
Length stroke
Whitworth quick return mechanism
the link CD (link 2) forming the turning pair is fixed.
The driving crank CA (link 3) rotates at a uniform angular speed.
The slider (link 4) attached to the crank pin at A slides along the slotted bar PA (link
1) which oscillates at a pivoted point D.
The connecting rod PR carries the ram at R to which a cutting tool is fixed.
The motion of the tool is constrained along the line RD produced.
cont’d

• When the driving crank CA moves from the position CA1 to CA2 (or the link DP from
the position DP1 to DP2) through an angle in the clockwise direction, the tool moves
from the left hand end of its stroke to the right hand end through a distance 2PD.
• Now when the driving crank moves from the position CA2 to CA1 (or the link DP from
DP2 to DP1 ) through an angle β in the clockwise direction, the tool moves back from
right hand end of its stroke to the left hand end.
• The time taken during the left to right movement of the ram (i.e. during forward or
cutting stroke) will be equal to the time taken by the driving crank to move from CA1
to CA2. Similarly, the time taken during the right to left movement of the ram (or
during the idle or return stroke) will be equal to the time taken by the driving crank
to move from CA2 to CA1.
 Time
ratio
Since the crank link CA rotates at uniform angular velocity therefore time taken
during the cutting stroke (or forward stroke) is more than the time taken during
the return stroke.

In other words, the mean speed of the ram during cutting stroke is less than
the mean speed during the return stroke.

The ratio between the time taken during the cutting and return strokes is given
by;

Like crank shaper This mechanism is mostly used in shaping and

slotting machines.
In a Whitworth quick return motion mechanism, distance between the fixed
centers is 50 mm and length of driving crank is 75 mm. The length of slotted
lever is 150 mm and length of connecting rod is 135 mm. Find the ratio of
time of cutting stroke to time of return stroke.
 TOGGLE
MECHANISM
This mechanism has many applications where it is necessary to overcome a large
resistance with a small driving force and a short distance.
It multiply small force from the input into larger force to the output.
Simple toggle consists of two links which tend to line-up in a straight line
at one point in their motion.
The mechanical advantage of the simple toggle below is the velocity ratio
of the input point A to the output point B.
 Mechanical advantage of TM

FB x vA
  
 tan  
FA y vB
As angle α approaches 90o, CA & AB come in to toggle.

This type of mechanism is used in punch presses, riveting machines, stone crusher,

etc.
Stone crusher
Cont’d

E.g animation of toggle mechanism

Stone crusher
Punch press toggle
mechanism
 Straight Line Mechanism
These are mechanisms which can generate straight lines from rotary motion. Point
on one of the links moves in a straight line with out the need of guides.

Converts rotary motion into straight line motion

It is used as a film advancing mechanism in movie-film projectors(e.g D drive

mechanisms)

A mechanism with sliding pair is the most common type of such devices, but sliding
pair is bulky and subjected to comparatively rapid wear so a mechanism is
constrained by the use of turning pair or a combination of both types of kinematic
pair(sliding and Turing pair).

The first straight line mechanism is developed jams watt to guide the long stoke
piston of his steam engine.
 Types of straight line
mechanisms
• There are two classes of straight line mechanisms and they are summarized
below;
 Watt mechanism
(also known as the parallel linkage) is a type of mechanical linkage invented by
James Watt in which the central moving point of the linkage is constrained to travel
on an approximation to a straight line.

It is a simple four bar mechanism of double-rocker type with the two rockers
connected through a coupler.

Produces an approximate straight line motion.

For equal lengths of links 2 & 4, the tracing point P traces an approximate straight
line. This will happen if AP/PB = O4B/O2A.
In earlier time they are used in steam engines and in now a days they are used in a
car rear suspension system by allowing the axle of a vehicle to travel vertically while
preventing sideways motion of car body relative to the rear axle. And can also be
used to prevent axle movement in the longitudinal direction of the train.
Car watts mechanism
 Parallel Mechanism
• They are use to make two or more parts of a mechanism move together and stay
parallel to each other as the linkages moves.
• These mechanisms are employed for producing parallel motions and reproducing
motions at different scales.
scales
• They are used in the manufacture of pantographs drafting machine for drawing
instruments, lazy tongs, parallel hinges on a tool box and are used by electric trains
to pick up power from overhead cables.

For our case common examples are pantograph and drafting machine.
 The Pantograph
Is an instrument or mechanism used produce path with enlarged or reduced scale in
exact manner which is traced out by appoint on the linkage.

It is a four bar linkage made up of bars connected by turning pairs which is used to
produce paths exactly similar to the ones traced out by a point on the linkage

Commonly used as cutting tools to duplicate complicated shapes to desired scales.

And the reproduction of plane areas and figures such as maps, plans …etc.
A modified form of pantograph is used to collect electricity at the top of electric
trains.
Links 2, 3, 4, & 5 form a parallelogram .Link 3 is extended to contain point C and
point E lies on the intersection of lines O2C and DB.
 cont’d

 A pen attached at E reproduces the movement of C to a reduced scale and vise

versa i.e. the motion of E is parallel to that of C.
 To produce this parallel motion the necessary condition to be satisfied is that,
for all positions of C;
O2C
 const.
O2 E

Thus, triangle O2DE is similar to triangle CBE. i.e

 The ratio of the sizes of the figures at C and E is; size of figure at C O2C

size of figure at E O2 E
Pantograph instrument
Pantograph cutting tool
 Intermittent mechanism
Converts continuous motion into intermittent motion.

Intermittent motion is a sequence of motions and dwells.

A dwell is a period in which the output link remains stationary while

the input link continues to move.

These mechanisms are commonly used for indexing in machine

tools.

Common examples are the Geneva Mechanism & ratchet mechanism.

 Geneva Mechanism
Provides intermittent rotary motion or intermittent linear motion.
INTERMITTENT ROTARY MOTION
This is also a transformed four bar linkage in which the coupler has been replaced
by a half joint.

It consists of;

crank which has a pin that enters a radial slot.

Geneva wheel which is fitted with at least three equispaced ,radial slots.

The circular segment attached to the crank locks the wheel against rotation when
the roller is not engaged.
 Working
principle

The input crank (link 2) is typically motor driven at a constant speed.as the crank
starts to rotate ,The crank pin enters a radial slot and causes the Geneva wheel to
turn through a portion of a revolution.
When the pin leaves that slot, the arc segment on the crank keeps the Geneva
wheel stationary (dwell) and in the proper location for the next entry of the pin.
The result is intermittent rotation of the Geneva wheel.
The number of slots determines the number of "stops" of the mechanism, where
stop is synonymous dwells.
The maximum number of stops is limited only by the size of the wheel
ANIMATION
intermittent linear motion
 There is also a variation of the Geneva mechanism which has linear translational
output.
 This mechanism is analogous to an open Scotch yoke device with multiple yokes.
 It can be used as an intermittent conveyor drive with the slots arranged along
the conveyor chain or belt.
 It can be used with a reversing motor to get linear.
Linear Geneva ANIMATION
 Ratchet and pawl
Mechanism
A ratchet and Pawl mechanism consists of a ratchet wheel
and a pawl.
RATCHET is a mechanical device that allows rotary or linear motion in only
one direction while preventing motion in opposite direction.
The part which is used to move the ratchet in one direction and stop it from
backward direction movement is known as the PAWL.
Motion developed by a ratchet is intermittent motion.
They are also used in the freewheel mechanism of bicycle, clocks, screwdrivers,
jacks, "ratchet" wrenches, winches, and hoists etc.
Working mechanism

 The arm pivots about the center of the toothed ratchet wheel and is moved
back and forth to index the wheel.
 The driving pawl rotates the ratchet wheel (or ratchet) in the counterclockwise
direction and does no work on the return (clockwise) trip.
 The locking pawl prevents the ratchet from reversing direction while the driving
pawl returns.
 Both pawls are usually spring-loaded against the ratchet
Animation
Motor driven ratchet
 Steering gear
mechanism
Used to change the direction of the wheel axle with respect to the chassis which
enables motion of an automobile in any desired direction.
Principle of steering
steering
 er
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